version: 66.12
revision: CLOWNFISH
glider: 148
mission: 15
dive: 584
start: 6 9 118 15 44 43
data:
$ID,148
$MISSION,15
$DIVE,584
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,950
$D_NO_BLEED,80
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,650
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52526
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,19
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3840
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.13635
$PRESSURE_SLOPE,0.00014082
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.01
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044221841
$SEABIRD_T_H,0.00065212161
$SEABIRD_T_I,2.6582115e-05
$SEABIRD_T_J,3.3042504e-06
$SEABIRD_C_G,-9.8996115
$SEABIRD_C_H,1.1410365
$SEABIRD_C_I,-0.0018685539
$SEABIRD_C_J,0.00022855515
$GPS1,090618,153702,2245.1296,-15754.0098,12,1.4,51,10.1,0.0,41.4,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.8
$GPS2,090618,154409,2245.2329,-15753.9951,11,1.0,51,10.1,0.4,73.6,7,6.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ED7
$TGT_LATLONG,2245.000,-15754.200
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,179.2,556,-22.0,-10.000,-24.52,1552
$D_GRID,300
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.28,-101.2,431,1865,1352,1330,0.0,0.0,0,94,0.00,0.00,-72.00,0.000,16390,0.000,0.000,432,1866,3314,3364,3264,0,0,0,0,0,0,24.65,24.03,24.67
$GC,97,-1.28,-101.2,431,1865,3364,3264,4.3,-10.6,11,113,10.18,2.50,0.00,0.000,2564,0.155,0.027,2338,338,3314,3365,3264,0,0,0,0,0,0,24.24,24.38,24.37
$GC,201,-1.28,-101.2,2338,338,3366,3265,31.9,-18.6,28,208,0.00,2.50,0.00,0.000,1030,0.000,0.015,2339,1928,3315,3366,3264,0,0,0,0,0,0,24.53,24.49,24.54
$GC,478,-1.28,-101.2,2338,1929,3367,3264,78.8,-17.3,77,487,0.00,2.50,0.00,0.000,260,0.000,0.026,2338,3487,3315,3367,3264,0,0,0,0,0,0,24.77,24.51,24.78
$GC,496,-1.28,-101.2,2338,3488,3367,3265,81.6,-17.7,79,504,0.00,2.47,0.00,0.000,1030,0.000,0.016,2338,1922,3316,3367,3265,0,0,0,0,0,0,24.60,24.56,24.62
$GC,761,-1.28,-101.2,2338,1921,3368,3265,122.4,-14.1,114,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1921,3316,3368,3265,0,0,0,0,0,0,24.81,24.83,24.82
$GC,1001,-1.28,-101.2,2338,1921,3368,3265,155.0,-13.9,138,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1921,3316,3368,3265,0,0,0,0,0,0,24.84,24.85,24.85
$GC,1241,-1.28,-101.2,2338,1921,3368,3265,184.7,-12.4,162,1247,0.00,2.58,0.00,0.000,516,0.000,0.031,2338,322,3317,3368,3266,0,0,0,0,0,0,24.86,24.60,24.87
$GC,1265,-1.28,-101.2,2338,322,3368,3265,187.6,-12.1,164,1270,0.00,2.45,0.00,0.000,1030,0.000,0.015,2338,1911,3316,3368,3265,0,0,0,0,0,0,24.69,24.65,24.70
$GC,1538,-1.28,-101.2,2338,1911,3369,3266,219.8,-11.6,179,1544,0.00,2.58,0.00,0.000,516,0.000,0.031,2339,324,3317,3369,3266,0,0,0,0,0,0,24.87,24.62,24.89
$GC,1602,-1.28,-101.2,2338,324,3369,3266,224.6,-11.2,180,1607,0.00,2.45,0.00,0.000,1030,0.000,0.016,2338,1905,3317,3369,3265,0,0,0,0,0,0,24.71,24.66,24.72
$GC,1865,-1.28,-101.2,2338,1905,3369,3265,253.5,-10.2,187,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1905,3317,3369,3266,0,0,0,0,0,0,24.89,24.91,24.91
$GC,2105,-1.28,-101.2,2338,1905,3368,3265,278.3,-10.1,193,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1905,3317,3369,3265,0,0,0,0,0,0,24.91,24.93,24.92
$STATE,2343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2344,begin apogee
$GC,2349,-0.26,0.0,2338,1905,3368,3265,302.5,-10.2,199,2436,1.45,0.00,82.72,0.665,10246,0.074,0.000,2670,1905,2899,2957,2841,0,0,0,0,0,0,24.60,23.96,23.48
$STATE,2437,end apogee,CONTROL_FINISHED_OK
$STATE,2437,begin climb
$GC,2439,1.28,101.2,2670,1905,2957,2841,304.3,0.0,201,2529,2.03,0.00,84.93,0.653,10246,0.039,0.000,3160,1905,2487,2548,2426,0,0,0,0,0,0,24.16,23.92,23.46
$GC,2745,1.28,101.2,3160,1905,2548,2416,277.6,10.6,209,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1905,2481,2547,2416,0,0,0,0,0,0,24.64,24.66,24.66
$GC,2986,1.30,118.8,3160,1905,2547,2412,255.5,8.8,215,3008,0.00,2.60,15.18,0.602,8452,0.000,0.049,3160,3399,2414,2480,2348,0,0,0,0,0,0,24.70,24.11,23.62
$GC,3111,1.34,144.5,3160,3399,2479,2343,245.3,8.3,218,3140,0.00,2.47,22.85,0.614,9222,0.000,0.023,3160,1863,2309,2369,2250,0,0,0,0,0,0,24.50,24.44,23.56
$GC,3389,1.35,159.6,3160,1863,2369,2242,220.6,9.0,225,3412,0.05,2.65,13.57,0.582,10500,0.121,0.039,3184,3408,2247,2309,2186,0,0,0,0,0,0,24.52,24.13,23.65
$GC,3459,1.37,169.1,3183,3408,2307,2186,216.2,9.4,226,3476,0.00,2.55,9.52,0.549,9222,0.000,0.023,3184,1839,2209,2264,2154,0,0,0,0,0,0,24.47,24.41,23.68
$GC,3723,1.37,174.5,3183,1839,2264,2148,184.7,9.6,243,3734,0.00,0.00,5.47,0.469,8198,0.000,0.000,3184,1839,2187,2244,2131,0,0,0,0,0,0,24.72,24.28,23.83
$GC,3976,1.37,174.5,3183,1839,2244,2128,160.9,10.4,268,3981,0.00,2.62,0.00,0.000,516,0.000,0.041,3184,269,2186,2244,2128,0,0,0,0,0,0,24.75,24.48,24.77
$GC,4000,1.37,174.5,3183,269,2243,2128,158.2,10.4,270,4005,0.00,2.53,0.00,0.000,1030,0.000,0.019,3184,1850,2185,2243,2128,0,0,0,0,0,0,24.58,24.53,24.60
$GC,4257,1.39,186.7,3184,1850,2243,2127,134.2,9.2,295,4280,0.00,2.62,11.85,0.530,8452,0.000,0.034,3184,3409,2137,2193,2082,0,0,0,0,0,0,24.79,24.24,23.80
$GC,4306,1.41,200.8,3183,3409,2192,2082,129.6,9.1,299,4326,0.00,2.50,13.55,0.527,9222,0.000,0.020,3185,1836,2080,2133,2028,0,0,0,0,0,0,24.51,24.45,23.70
$GC,4566,1.45,233.8,3183,1836,2133,2023,105.2,7.8,325,4604,0.08,2.65,28.98,0.536,10500,0.096,0.031,3216,3413,1945,1992,1899,0,0,0,0,0,0,24.51,24.07,23.64
$GC,4714,1.45,233.8,3215,3414,1992,1897,88.5,12.3,347,4722,0.00,2.53,0.00,0.000,1030,0.000,0.020,3216,1840,1944,1992,1897,0,0,0,0,0,0,24.50,24.44,24.51
$GC,4994,1.46,244.5,3215,1840,1992,1894,56.7,9.3,396,5010,0.00,2.65,10.23,0.457,8452,0.000,0.030,3216,3424,1903,1944,1862,0,0,0,0,0,0,24.75,24.27,23.86
$GC,5096,1.46,244.5,3215,3424,1944,1862,44.8,13.0,413,5105,0.00,2.53,0.00,0.000,1030,0.000,0.018,3216,1835,1902,1944,1861,0,0,0,0,0,0,24.54,24.49,24.56
$GC,5373,1.46,244.5,3215,1835,1944,1858,14.5,11.0,462,5381,0.00,2.60,0.00,0.000,260,0.000,0.034,3216,3416,1901,1944,1859,0,0,0,0,0,0,24.78,24.51,24.79
$STATE,5463,end climb,SURFACE_DEPTH_REACHED
$STATE,5463,begin surface coast
$FINISH,0.1,1.022636
$STATE,5488,end surface coast,CONTROL_FINISHED_OK
$STATE,5488,begin surface
$SM_CCo,5512,72.62,0.452,0,0,1349,380.21
$SM_GC,0.84,11.60,2.45,72.62,0.041,0.019,0.452,434,1892,1349,-7.23,1.05,380.21,0,0,0,0,0,0,24.51,24.56,23.70
$IRIDIUM_FIX,2237.01,-15754.99,090618,135551
$TT8_MAMPS,0.021721,0.283122
$HUMID,55.23
$INTERNAL_PRESSURE,9.31076
$TCM_TEMP,22.60
$XPDR_PINGS,4
$24V_AH,23.46,69.675
$10V_AH,9.92,51.052
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.375,56.150,298.850,72.625,0.000,27.547,44.813,187.536,1.000,0.000,53.850,1336.985,2503.836,471.322,1554.726,162.639,0.000,961.329,0.000,1244.867,0.000,0.539,0.000
$DEVICE_MAMPS,154.530,49.725,664.785,452.115,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,323.932,318.391,446.848,694.765,848.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000
$MEM,342964
$DATA_FILE_SIZE,40493,482
$CAP_FILE_SIZE,67354,0
$CFSIZE,259248128,224714752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,354.42,1
$GPS,090618,171921,2245.089,-15754.049,14,1.1,54,10.1,0.3,236.8,7,5.1